ROS Answers: Open Source Q&A Forum - RSS feedhttps://answers.ros.org/questions/Open source question and answer forum written in Python and DjangoenROS Answers is licensed under Creative Commons Attribution 3.0Tue, 07 Apr 2015 13:37:56 -0500tf static transform publisherhttps://answers.ros.org/question/206774/tf-static-transform-publisher/in tf static transform publisher, what is the different between <br>
static_transform_publisher x y z yaw pitch roll frame_id child_frame_id period_in_ms <br> and <br> static_transform_publisher x y z qx qy qz qw frame_id child_frame_id period_in_ms <br>
and what are the values that i'm suppose to use in args such as: <br> <node pkg="tf" type="static_transform_publisher" name="link1_broadcaster" args="1 0 0 0 0 0 1 link1_parent link1 100" />
Thank u.Tue, 07 Apr 2015 12:19:24 -0500https://answers.ros.org/question/206774/tf-static-transform-publisher/Answer by crazymumu for <p>in tf static transform publisher, what is the different between <br/>
static_transform_publisher x y z yaw pitch roll frame_id child_frame_id period_in_ms <br/> and <br/> static_transform_publisher x y z qx qy qz qw frame_id child_frame_id period_in_ms <br/>
and what are the values that i'm suppose to use in args such as: <br/> <node pkg="tf" type="static_transform_publisher" name="link1_broadcaster" args="1 0 0 0 0 0 1 link1_parent link1 100"/></p>
<p>Thank u.</p>
https://answers.ros.org/question/206774/tf-static-transform-publisher/?answer=206787#post-id-206787http://wiki.ros.org/navigation/Tutorials/RobotSetup/TF
This tutorials about publish TF maybe help you.Tue, 07 Apr 2015 13:37:56 -0500https://answers.ros.org/question/206774/tf-static-transform-publisher/?answer=206787#post-id-206787Answer by Morgan for <p>in tf static transform publisher, what is the different between <br/>
static_transform_publisher x y z yaw pitch roll frame_id child_frame_id period_in_ms <br/> and <br/> static_transform_publisher x y z qx qy qz qw frame_id child_frame_id period_in_ms <br/>
and what are the values that i'm suppose to use in args such as: <br/> <node pkg="tf" type="static_transform_publisher" name="link1_broadcaster" args="1 0 0 0 0 0 1 link1_parent link1 100"/></p>
<p>Thank u.</p>
https://answers.ros.org/question/206774/tf-static-transform-publisher/?answer=206779#post-id-206779The first syntax is using [Euler Angles](http://en.wikipedia.org/wiki/Euler_angles), and the second syntax is using [Quaternions](http://en.wikipedia.org/wiki/Quaternion). They are just two different methods of representing the angular orientation of one frame relative to another. Typically Euler angles are convenient and easier to imagine, but Quaternions are more robust for numerical integration (e.g., when transitioning through pointing straight up or straight down), which is important in some specific situations.
But if you're just specifying a static transformation from one frame to another, you'll probably be fine with Euler angles, and they are more comprehensible for the next person that comes along and tries to understand the launch file.Tue, 07 Apr 2015 13:12:17 -0500https://answers.ros.org/question/206774/tf-static-transform-publisher/?answer=206779#post-id-206779